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Integrated system development process for high-precision motion control systems

: Zschäck, S.; Amthor, A.; Müller, M.; Kloeckner, J.; Ament, C.; Fengler, W.


Institute of Electrical and Electronics Engineers -IEEE-:
IEEE International Conference on Control Applications, CCA 2010 : Yokohama, Japan, 8 - 10 September 2010; Part of 2010 IEEE Multi-Conference on Systems and Control (MSC)
New York, NY: IEEE, 2010
ISBN: 978-1-4244-5362-7
ISBN: 978-1-4244-5363-4
International Conference on Control Applications (CCA) <19, 2010, Yokohama>
Multi-Conference on Systems and Control (MSC) <2010, Yokohama>
Conference Paper
Fraunhofer IOSB ()

A cost-efficient way to achieve high-accuracy motion control is the utilization of complex control algorithms. Hence advanced motion control constitutes a class of real-time applications, for which the technical feasibility strongly depends on the achievable execution performance on the embedded processing platform. The presented modular controller structure defines a set of advanced control algorithms able minimize the tracking error, even for friction affected kinematics. Transferring the controller design to an implementation-oriented modelling level focuses on minimizing the processing latency in order to realize the required high sample rate. The utilization or even the custom development of a parallel platform becomes inevitable, which is why it is necessary to integrate both, control and embedded platform development processes. The presented process includes controller design, platform mapping and architecture optimization to address the challenge of tailoring an application-specific modular embedded processing platform already on the modelling level before interfacing state-of-the-art tool chains.